Mechanics of Machine and Vibration Vibration: EMM 3223 EMM 3223

EMM 3223
LESSON
Mechanics of Machine and
Vibration
MECHANISM &
MACHINES
© 2011 Balamurugan A.Gurunathan.

LESSON 1
EMM 3223 Mechanics of Machine & Vibration
Contents
Introduction
Mechanism & Machine : Definition
Types of motion
Degree of Freedom
Link
Kinematic Pair/Joint
Kinematic Chain, Mechanism & Structure
Reuleaux’s classification
Mobility
bili
Kinematic diagram
Four bar mechanism
Inversion
© 2011 Balamurugan A.Gurunathan. 1-2
LESSON 1
Introduction
Kinematics
• Study of geometry of motion, to determine displacement, velocity,
acceleration and time without considering the forces causing the motion
Kinetics
• Study of the relation existing between the forces acting on a body,
body to
determine motion caused by given forces or determine forces required to
produce a given motion.
Ri id body
Rigid b d
• A body is said to be rigid when distance between any two points on it
remains constant under the action of forces.
Resistant body
• A body which does not suffer any distortion or physical change due to
application of force.
force

LESSON 1
Introduction-cont…
Analysis
• Study of motions and forces concerning different parts of an existing
mechanism.
Synthesis
• Design of different parts of an existing mechanism
mechanism.

LESSON 1
Mechanism & Machine
Mechanism
• Assemblage of resistant bodies which transforms motion to some desirable
pattern
tt or whose
h motion
ti causes constrained
t i d andd predictable
di t bl motion
ti to
t other
th
bodies.
• A mechanism transmits and modifies motion.
• A mechanism transmits little or no power/energy.
p :
Example
• A slider crank mechanism converts the reciprocating motion of a slider into
rotary motion of crank or vice versa.

LESSON 1
Mechanism & Machine-cont…
Machine
• A mechanism or combination of mechanism which transmit motion and
significant energy.
energy
Example:
When slider crank mechanism is used as an automobile engineg with the addition of
valve mechanism, it converts chemical energy (force on the piston due to
combustion) to kinetic energy (torque of the crank shaft).
• Reciprocating pumps,
pumps reciprocating compressors and steam engines are examples
of machines derived from slider crank mechanism.
• Therefore, mechanism is the fundamental unit and one needs know the basic
terminology
i l associated
i d with
i h mechanism.
h i

LESSON 1
Types of motion
Pure rotation
• Rotation about axis perpendicular to the plane.
• A rigid body in rotation possesses one point of rotation (center of rotation) and
other points forms arcs about the center.
Pure translation
• Translational motion along two perpendicular axes on the plane.
• All points on the rigid body in pure translation form parallel (curvilinear or
rectilinear) paths.
paths
Complex motion
• Si
Simultaneous
lt combination
bi ti off rotation
t ti andd translation.
t l ti
• Points on the rigid body travel nonparallel paths, and center of rotation
continuously change location.

LESSON 1
Degree of Freedom
• Number of independent parameters required to define position of a rigid body in
space at any instant.
• Defined with respect to selected frame of reference.
reference
Example:
A rigid body moving in space possesses 6 degree of freedom (6 DOF)
• Translational motions along three mutually perpendicular axes x, y,and z
• Rotational motions about these axes

LESSON 1
Degree of Freedom-cont…
Example:
A pencil lying on a flat piece of paper with x and y coordinates axes possesses 3
DOF
• Translational motions along x and y axes
• Rotational motion about z axes
• Connection of one rigid body to another imposes certain constraints to their

relative motion, thus reducing number of DOF.

LESSON 1
Link
• A resistant body or group of resistant bodies with rigid connections preventing
their relative movement is known as a link.
OR
• A resistant body which possesses at least two nodes, that are points for
attachment/connection to other resistant body/bodies, is known as a link.
• Also known as kinematic link.
• In mechanism, three types of links exist ; rigid link, flexible link and fluid link.
• Rigid link can be classified as binary, ternary and quaternary link.
•
© 2011 Balamurugan A.Gurunathan. 1 - 10
LESSON 1
Link-cont…
Binary link
• A link with 2 nodes/joints
Ternary link
• A link with 3 nodes/joints
Quaternary link
• A link with
ith 4 nodes/joints

LESSON 1
Kinematic Pair/Joint
• A Joint (Kinematic pair) is a connection between two or more link (at their
nodes), which allows some motion, or potential motion, between the connected
links.
• Can be classified according to nature of contact, nature of mechanical constraints
and nature of relative motion (DOF).
Nature of contact
Lower Pair
• Joints with surface or area contact while in motion.
• The contact surfaces are similar.
• Relative motion in a lower pair is either purely turning or sliding.
Example:
Shaft rotating in a journal bearing, automobile steering, universal joint, all pairs of
slider-crank mechanism

LESSON 1
Kinematic Pair/Joint-cont…
Advantage of lower pair :
• Ability to trap lubricant between their enveloping surfaces. Therefore low wear
and tear and long life for lower pair.
pair Rotating pin joint is preferred compared to
prismatic or slider joint.
• Six possible lower pairs :
Symbol DOF Contains
Revolute-R 1 R
Prismatic P
Prismatic-P 1 P
Helical-H 2 RP
Cylindric
y -C 2 RP
Spherical -S 3 RRR
Planar-F 3 RPP
• R
Revolute
l t andd prismatic
i ti pairs
i are the
th only
l lower
l pairs
i usable
bl in
i a planar
l
mechanism.
LESSON 1

LESSON 1
Higher Pair
• Joints with point or line contact while in motion.
• The
Th contact
t t surfaces
f are dissimilar.
di i il
• Relative motion in a higher pair is combination of turning and sliding.
Example:
Wheel rolling on a surface, cam and follower pair, tooth gears, ball and bearings

LESSON 1
Nature of mechanical constraints
Closed pair/Form-closed
• Joints kept together or closed by its geometry.
• All lower pairs and some higher pairs.

LESSON 1
Unclosed pair/Force-closed
• Joints kept together by external force. Force could be force of gravity, spring
action or other external means
means.
• Cam and follower.

LESSON 1
Nature of relative motion(DOF)
One-freedom Joint
• Joint which only allows one relative motion between pairs joined.
• Referred as full joints (full = 1 DOF) and are lower pairs.
• Turning pair,
pair sliding pair & screw pair categorized as One freedom Joint.
Joint
Turning/Revolute joint - R
• Only
O l constrained
t i d relative
l ti motion
ti off rotation
t ti isi allowed
ll d between
b t joints.
j i t
Example:
Circular shafts with two collars rotating in a bearing, connection between piston,
connecting rod and crank.

LESSON 1
Sliding/Translating (prismatic) joint – P
• Only constrained relative motion of sliding is allowed between joints.
Example:
Piston and cylinder of slider crank shaft, a rectangular rod in a rectangular hole in a
prism.
Screw/Helical joint- H
• Combination of turning and sliding motion between joints to produce one
relative motion.
Example:
Lead screw and nut.

LESSON 1
Two-freedom Joint
• Joint which allows simultaneously two independent relative motions between
pairs joined.
joined
• Allows translation/sliding and rotation/turning.
• Referred as half joint.
• Higher pair.
Roll-side joint.
j
Example:
Pin in slot, link against plane.

LESSON 1
Three-freedom Joint
• Joint which allows simultaneously three independent angular motions between
pairs joined.
joined
• Also known as joystick or ball joint.
Spherical Joint - S
Example:
Ball and socket jjoint in automotive suspension.
p

LESSON 1
Others
Rolling joint
• Rolling
R lli motionti relative
l ti to
t eachh other.
th
Example:
Rolling wheel on flat surface, ball and roller bearing
Special case
• By generating friction, a two degree can be reduced to one degree.
Example:
Automobile tire rolling
g against
g the road.
Figure 2-3 (e)

LESSON 1
Kinematic Chain
• An assembly of links in which relative motion between links is possible and the
motion of each relative to the other is definite.
Or
• A
An assemblage
bl off links
li k connected
t d by
b joints
j i t forming
f i a closed
l d loop
l that
th t allows
ll
relative motions between the links.

LESSON 1
Mechanism
Linkage mechanism or simply Mechanism
• When one link of the kinematic chain is grounded and motion of any of the
moveable
bl links
li k results
lt in
i definite
d fi it motion
ti off others.
th
• Could be either open or close.
• A closed mechanism will have no open attachment nodes; one or maybe more
degree of freedom.
• An open mechanism of more than one link will always have more than one
degree of freedom. Common example is industrial robot.

LESSON 1
Structure
Structure
• When one link of the kinematic chain is grounded and does not allow relative
motion
ti between
b t links.
li k
• It is rigid and only transmits force and/or moment

LESSON 1
Reuleaux’s classification
Kinematic chain
• An assemblage of links and joints, interconnected in a way to provide a
controlled
t ll d output
t t motion
ti ini response tot a supplied
li d input
i t motion.
ti
• Could be either open or closed.
Mechanism
• A kinematic chain in which at least one link has been grounded or attached to the
frame of reference.
reference
Machine
• A combination of resistant bodies arranged to compel the mechanical forces of
nature to do work accompanied by determinate motions.

LESSON 1
Kinematic Diagram
• It can be difficult to identify kinematic links and joints in complicated
mechanism.
• Therefore a schematic notations and diagram are required to represent joints and
links.

LESSON 1
Mobility
• Motion transmitted by a mechanism depends on its degree of freedom or
Mobility.
DOF (revisit) :
• How many different ways that the body is free to move.
OR
• Number of inputs that need to be provided in order to create a predictable output.
OR
• Number of independent coordinates required to define its position.
position
• Mobility is positive, then it will be a mechanism ; links will have relative

motion.
motion
• Mobility is zero, then it will be structure; no motion is possible.
• Mobility is negative, then it will be a preloaded structure/superstructure ; no
motion
ti isi possible
ibl andd some stress
t may be
b presentt att the
th time
ti off assembly.
bl

LESSON 1
Mobility-cont…
• To determine the overall DOF of any mechanism, need to identify number of
links, joints and joint type.
Grubler’ss equation
Grubler
• For number of joints,

j ,

LESSON 1
Mobility-cont…
Kutzbach’s modified equation of Gruebler’s equation
• Multiple joints considered as 1 DOF (full) joint, and counted as ‘number

number of links
joined at that joint minus one’.
• Mechanism with only 1 DOF kinemetic pair/joint,
• Kutzbach’s equation becomes

LESSON 1
Example

LESSON 1
Four Bar Mechanism
Crank
• A link that makes a complete revolution and is pivoted to ground.
Coupler/Connecting rod
• A link that has complex motion and not pivoted to ground.
Ground
• Any link or links that are fixed with respect to the reference frame.
• Sometimes,
Sometimes reference frame may in fact itself be in motion.
motion
Rocker
• A link that has oscillatory rotation and is pivoted to ground
LESSON 1
Inversion
• By fixing the links of a kinematic chain one at a time, we may get as many
number of variants as the number of links.
• These variants are known as inversions of kinematic chain or inversions of
mechanism.
Slid C
Slider Crank
k Ch
Chain
i
• When one of turning pair of a four bar chain is replaced by a sliding pair, it
becomes a slider crank chain.
• First inversion – link 1 fixed
• Second inversion –link 2 fixed
• Third inversion – link 3 fixed
• Fourth inversion – link 4 fixed

LESSON 1
Inversion of Slider Crank chain
First inversion - link 1 fixed
• When link 1 is fixed, it is known as slider crank mechanism.
• Converts
C t reciprocating
i ti motion ti into
i t rotary
t motion
ti or vice
i versa.
Application
• Reciprocating engine
• Reciprocating compressor

LESSON 1
Inversion of Slider Crank chain-cont…
Second inversion - link 2 fixed
• When link 2 is fixed, link 3 along with slider at B becomes crank and rotates
about A.
A
• Link 1 rotates about O, with the slider reciprocating on link 1.
Application
• Whitworth quick-return mechanism
• Rotary
y engine
g

LESSON 1
Whitworth Quick-return mechanism
• Used in workshop to cut metals.
• Wh the
When th slider
lid is
i att B’,
B’ cutting
tti tool
t l will
ill bbe iin extreme
t left
l ft position.
iti
• When the slider is at B”, cutting tool will be in extreme right position.
• Forward stroke from B’ to B’’ counterclockwise.
• Backward stroke from B” to B’ counterclockwise.

LESSON 1
Rotary engine
• Slider replaced by piston.
• Link
Li k 1 replaced
l d byb cylinder
li d pivoted
i t d att O.
O
• Instead of one, seven or nine cylinders symmetrically placed at regular intervals
in the same plane.
• Cylinders rotate about same fixed centre and form a balanced system.

LESSON 1
Third inversion - link 3 fixed
• Link 2 acts as crank, link 4 oscillates.
Application
• Oscillating cylinder engine
• Crank and slotted-lever mechanism

LESSON 1
Oscillating cylinder engine
• Link 4 is made in form of a cylinder.
• A piston
i t is
i fixed
fi d to
t the
th endd off the
th link1.
li k1
• As the piston reciprocates inside the cylinder pivoted to the fixed link 3, crank
rotates.

LESSON 1
Crank and slotted-lever mechanism
• When cylinder of an oscillating cylinder engine is made in the form of guide,
and piston in the form of a slider.
slider

LESSON 1
Fourth inversion - link 4 fixed
• Link 3 can oscillate about the fixed pivot B on link 4.
• This
Thi makes
k the
th endd A off the
th link
li k 2 to
t oscillate
ill t about
b t b,
b andd the
th endd O to
t
reciprocate along the axis of the fixed link 4.
Application
Hand pump
• Link 4 made in the form of a cylinder
y .
• Plunger fixed to link 1 reciprocates in cylinder.

LESSON 1
Question
Q1.Determine mobility for the kinematic chain shown.

LESSON 1
Question-cont…
Q2.Determine mobility for the kinematic chain shown.

LESSON 1
Question-cont…
Q3.Show that the linkages shown in Figure below are structures.
Suggest some changes to make them mechanism having one degree of freedom.
The number of links should not be changed by more than ± 1

LESSON 1
Question-cont…
Q4. Define : kinematic link, kinematic pair and kinematic chain.
Q5 What are rigid body and resistant body? Elaborate

Q5. Elaborate.
Q6. Distinguish between :

- Mechanism and machine
- Analysis and synthesis of mechanisms
- Kinematics and dynamics(kinetics)
y ( )
Q7. How are kinematic pairs classified? Explain with examples.
Q8. What do you understand by degree of freedom of a kinematic pair? How are
pairs classified?Give examples.

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EMM 3223

© 2011 Balamurugan A.Gurunathan.

© 2011 Balamurugan A.Gurunathan. 1-3

© 2011 Balamurugan A.Gurunathan. 1-4

© 2011 Balamurugan A.Gurunathan. 1-5

© 2011 Balamurugan A.Gurunathan. 1-6

© 2011 Balamurugan A.Gurunathan. 1-7

© 2011 Balamurugan A.Gurunathan. 1-8

• Connection of one rigid body to another imposes certain constraints to their

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• Mobility is positive, then it will be a mechanism ; links will have relative

© 2011 Balamurugan A.Gurunathan. 1 - 28

• For number of joints,

© 2011 Balamurugan A.Gurunathan. 1 - 29

• Multiple joints considered as 1 DOF (full) joint, and counted as ‘number

• Kutzbach’s equation becomes

© 2011 Balamurugan A.Gurunathan. 1 - 30

© 2011 Balamurugan A.Gurunathan. 1 - 31

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© 2011 Balamurugan A.Gurunathan. 1 - 44

Q5 What are rigid body and resistant body? Elaborate

Q6. Distinguish between :

Q7. How are kinematic pairs classified? Explain with examples.

© 2011 Balamurugan A.Gurunathan. 1 - 45

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